thermo_cam

A repository for the thermal_cam which provices ros nodes to fuse 2D thermal images and 3d pointclouds.

Fusion of 2D thermal images and 3D pointclouds (based on ROS Fuerte)

Summary

Volksbot developed by Fraunhofer IAIS Germany.

• Maxon motor system
• Dynamixel based gripper system
• 3D Scanner based on a LMS1xx sensor and a rotation unit
• Ackermann steering system

Installation and usage for 3D Scanner

• Installation of neccesary packages

rosdep install 3DLSKdriver (For Eigen3 and PCL)

rosmake 3DLSKdriver

• Connect the laser scanner to your computer. Both devices, your comptuer and the scanner device should be in the same network.
  • Computer: 192.168.0.x (netmask 255.255.255.0)
  • Scanner: 192.168.0.12
  • ifconfig eth9 192.168.0.12 netmask 255.255.255.0 up
• The rotation device is connected via USB. You have to set neccessary device permissions
  • sudo chmod 777 /dev/ttyUSB*
• The IP of the laser scanner has to be configured in the following launch File: lms1xx_3dls_x.launch

• The rotational velocity and the number of ticker per round can be set in rotary_3dls_x.launch

• Start up the scanning system

roslaunch 3DLSKdriver scanmode_multi.launch

• Use Rviz to see the created pointclouds

rosrun rviz rviz -d rviz_config.rviz

• There are a couple of launch files in the package
  • lms1xx.launch to start the scanner unit
  • rotary_3dls... to start the rotation unit
  • scan2cloud... to created a pointcloud from several scans
  • cloud2pcd... to convert a cloud to a pcd file